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为了减弱轨迹拐角处的向心加速度变化给加工带来的不利影响,使用五次PH曲线进行拐角过渡,在控制加工速度的同时对向心加速度进行控制。通过对拐角处连接情况的分析,确定了连接PH曲线中的参数计算方法。在拐角前后使用S加减速进行加工,以保证直线、圆弧轨迹加工中的平稳;在拐角连接区域内使用基于曲率的速度模型,通过对拐角前后S加减速和拐角速度的连接,使拐角前后的速度更加连续,得到平滑的速度曲线;通过拐角处的加速度和弓高误差的限制,计算平稳的加工速度。结果表明,使用五次PH曲线进行拐角过渡的误差小于7.4μm,能够满足加工需要,同时,拐角处的向心加速度变化更加平稳。将拐角前后的S加减速和拐角区域内速度连接后,得到了平滑的速度曲线。
In order to reduce the adverse effect of the centripetal acceleration at the corner of the trajectory on the machining, a five-time PH curve is used for the corner transition, and the centripetal acceleration is controlled while controlling the processing speed. Through the analysis of the connection at the corner, the calculation method of the parameters in the connection PH curve is determined. Before and after the corner of the use of S acceleration and deceleration processing, in order to ensure straight line, arc trajectory in the processing of smooth; corner connection area using the curvature-based velocity model, through the corner before and after the S acceleration and deceleration and corner speed connection, so that corner before and after The speed is more continuous, get a smooth speed curve; through the corner of the acceleration and bow height error limit, calculate the smooth processing speed. The results show that the error of using the five PH curves for corner transition is less than 7.4μm, which can meet the machining needs. At the same time, the centripetal acceleration at the corner changes more smoothly. After the corner of the S acceleration and deceleration and the corner of the region connected to a smooth speed curve.